Real-time cartesian coordinate hybrid control of a PUMA 560 manipulator

Real time hybrid control results with resolved motion force control (RMFC) and task coordinate pole-placement self-tuning (TST) are given. The control methods calculate corrective forces in a Cartesian coordinate frame to eliminate position and force errors. These forces are transformed to equivalent joint inputs for actuation. RMFC uses stochastic approximation to adapt to changing manipulator dynamics. TST uses self-tuning in the task frame to estimate dynamic system models and place closed loop poles. Results show both methods capable of the hybrid control application but friction has a large effect on the control.